Datasets. We evaluate our recall loss on two popular large-scale outdoor semantic segmentation datasets, Synthia [1]} and Cityscapes [2]}. Synthia is a photorealistic synthetic dataset with different seasons, weather, and lighting conditions. Specifically, we use the Synthia-sequence Summer split for training (4400), validation (624), and testing (1272). Cityscapes consists of real photos of urban street scenes in several cities in Europe. It has 5000 annotated images for training and another 5000 for evaluation.
